CN105799629A - Velocity-based pedestrian sensing - Google Patents
Velocity-based pedestrian sensing Download PDFInfo
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- CN105799629A CN105799629A CN201610024212.2A CN201610024212A CN105799629A CN 105799629 A CN105799629 A CN 105799629A CN 201610024212 A CN201610024212 A CN 201610024212A CN 105799629 A CN105799629 A CN 105799629A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0136—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
- B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01512—Passenger detection systems
- B60R21/01516—Passenger detection systems using force or pressure sensing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
- B60R21/36—Protecting non-occupants of a vehicle, e.g. pedestrians using airbags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/002—Locking of control actuating or transmitting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/002—Locking of control actuating or transmitting means
- B60R25/003—Locking of control actuating or transmitting means locking of control actuating means
- B60R25/005—Locking of control actuating or transmitting means locking of control actuating means of foot actuated control means
- B60R25/006—Locking of control actuating or transmitting means locking of control actuating means of foot actuated control means using means preventing access, e.g. boxes, shutters
Abstract
A vehicle system includes a sensor configured to output an impact signal and a processing device programmed to calculate an acceleration envelope from the impact signal, calculate a velocity envelope from the acceleration envelope, determine a threshold value based at least in part on a vehicle speed, and compare the acceleration envelope to the threshold value. The processing device is further programmed to output a control signal to deploy a pedestrian protection countermeasure if the acceleration envelope exceeds the threshold value.
Description
Background technology
Increasing motor vehicles is assembled with pedestrian protection system.Such system attempts to reduce risk pedestrian damaged by Vehicular impact.When assessing vehicle, administration section and Performance Evaluation mechanism can consider the risk in collision process, pedestrian damaged.Additionally, administration section and Performance Evaluation mechanism all most preferably consider to reduce the injury to pedestrian.
Accompanying drawing explanation
Fig. 1 illustrates the main vehicle of the example with detection system, and this detection system is for detecting the collision with pedestrian and taking suitable counter-measure.
Fig. 2 is the schematic diagram of bumper and the sensor being arranged on bumper, and this bumper is integrated in the main vehicle of Fig. 1.
Fig. 3 is the block diagram of the exemplary components illustrating the system in the main vehicle being incorporated into Fig. 1.
Fig. 4 illustrates the chart of the collision characteristic of the example for the collision relevant to pedestrian and non-pedestrian.
Fig. 5 illustrates the chart of the example of the pedestrian's associated crash threshold value based on speed.
Fig. 6 can be performed by system with the flow chart of detection with the collision of pedestrian the exemplary method taking suitable counter-measure.
Detailed description of the invention
When the collision with pedestrian cannot be avoided, main vehicle can include a kind of system, and this system detects the collision with pedestrian and starts counter-measure to attempt reducing the risk that pedestrian is damaged.System can include being configured to the sensor of output collision alarm and being programmed to be calculated by collision alarm the process device of acceleration envelope (accelerationenvelope).Process device can be further programmed for being calculated velocity envolop (velocityenvelope) by acceleration envelope, be based at least partially on vehicle speed and velocity envolop determines threshold value, and by acceleration envelope compared with threshold value.If acceleration envelope has exceeded threshold value, then process device and can export control signal to launch pedestrian protecting counter-measure.
Shown element can adopt many different forms and include various and/or selectable parts and equipment.The parts of shown example are not intended to limit.It practice, additional or selectable parts and/or embodiment can be used.
As it is shown in figure 1, main vehicle 100 includes pedestrian protection system 105 and for detecting the detection system 110 of the collision relating to pedestrian.In the process of collision, detection system 110 may determine whether to may relate to pedestrian.If it is, detection system 110 can export control signal to pedestrian protection system 105 pedestrian protecting counter-measure can be taked.The example of pedestrian protecting counter-measure can include ejecting protective cover or being deployed in the outside air bag installed with the collision between buffering and pedestrian.Correspondingly, pedestrian protection system 105 can include Pop-up protective cover, external airbag or the two.Pedestrian protection system 105 can be configured to respond to receive the control signal generated by detection system 110 to launch pedestrian protecting counter-measure.
Although being illustrated as car, but main vehicle 100 can include any riding or commercial vehicles, such as car, truck, sport vehicle, transboundary car, van, jubilee wagen, taxi, bus etc..In the method that some are feasible, main vehicle 100 is autonomous vehicle, and this autonomous vehicle is configured to autonomous (such as, unmanned) pattern, part autonomous mode and/or non-autonomous mode operation.
Fig. 2 illustrates the schematic diagram of the bumper 115 can being integrated in main vehicle 100.Bumper 115 can be made up of the such metal material of such as steel.First sensor 120 and the second sensor 125 can be mounted to or otherwise arrange on bumper 115.First and second sensors 120,125 can be configured to the collision of detection and object.When object clashes into bumper 115, each can being configured in both first sensor 120 and the second sensor 125 exports collision alarm the first collision alarm and the second collision alarm.First collision alarm and the second collision alarm each can represent the characteristic (profile) being associated with detected collision.As discussed in detail below, it is possible to the detection system 110 including first sensor 120 and the second sensor 125 can process the first and second collision alarms to determine that whether object is for pedestrian.If it is, suitable pedestrian protecting counter-measure can be taked.In non-restrictive example, the first and second sensors 120,125 can be the accelerometer of output acceleration signal.
With reference now to Fig. 3, as above, detection system 110 can include first sensor 120 and the second sensor 125.Detection system 110 may further include process device 130.Process device 130 can be configured to receive the first and second collision alarms from the first and second sensors 120,125.Process device 130 can be further programmed to be calculated acceleration envelope by collision alarm.Acceleration envelope AAE can be defined as:
AAE=max{abs (S1), abs (S2) } (1)
Wherein S1 and S2 represents the first collision alarm and the second collision alarm respectively.
Process device 130 can be further programmed to be calculated velocity envolop by acceleration envelope.Specifically, velocity envolop can be based at least partially on the integration of the first and second collision alarms.For example, velocity envolop AVE can be defined as:
AVE=max{abs (∫ (S1) dt), abs (∫ (S2) dt) } (2)
Selecting as one, velocity envolop can be defined and be stated by equation 3 below
AVE=abs (∫ (S1) dt)+abs (∫ (S2) dt) (3)
According to this velocity envolop, this process device 130 can be programmed to set pedestrian's associated crash threshold value.As shown in equation 4 below, pedestrian associated crash threshold value PRIT can be based at least partially on velocity envolop and main vehicle speed (speed):
PRITspeed=fspeed(AVE)(4)
Pedestrian's associated crash threshold value can be based at least partially on the collision characteristic of pedestrian's associated crash.The example of the collision characteristic of pedestrian's associated crash figure 4 illustrates.
In order to detect pedestrian's associated crash, process device 130 and can be programmed to compare acceleration envelope with the pedestrian's associated crash threshold value based on main car speed.Fig. 5 illustrates the example of the pedestrian's associated crash threshold value based on main car speed.If acceleration envelope exceedes pedestrian's associated crash threshold value, then process device 130 and can be programmed to collision recognition be the possible pedestrian impact relevant to pedestrian.Can be programmed to determine that the object involved with the collision of main vehicle 100 is likely pedestrian it is to say, process device 130.If acceleration envelope is not above pedestrian's associated crash threshold value, then processes device 130 and can be programmed to collision recognition be the collision that non-pedestrian is relevant, such as with the collision as refuse receptacle and the such wisp of toy.As it has been described above, if be detected that the collision relevant to pedestrian, then process device 130 and can be programmed to export control signal to pedestrian protection system 105.If collision is not related to pedestrian, then can take other counter-measures.
Fig. 4 illustrates the chart 400 of the example collision characteristic of the collision relevant with non-pedestrian for pedestrian.Y-axis 405 represents acceleration envelope, describes the example of this acceleration envelope in equation (1).X-axis 410 representation speed envelope, describes the example of this velocity envolop in equation (2).Threshold value 415 can based on the velocity envolop as described in equation (4) and vehicle speed.Line 420A and 420B can represent along with the acceleration envelope of velocity envolop change, and this acceleration envelope is used for the such non-human object of such as toy or refuse receptacle.Line 425 can represent along with the acceleration envelope for pedestrian of velocity envolop change.As shown in the example chart 400 of Fig. 4, the line 425 only representing pedestrian impact exceedes threshold value 415.Represent line 420A and 420B with non-pedestrian object collision not intersect with threshold value 415.Therefore, detection system 110 starts pedestrian protecting counter-measure only in response to the detection with the collision of pedestrian by pedestrian protection system 105.
Fig. 5 illustrates the example of vehicle speed dependency threshold value.In other words, this threshold value can change along with the change of the speed of main vehicle 100.For example, if vehicle speed is 20kph, then the vehicle speed dependency threshold value shown in line 515 can be selected.But, if vehicle speed is 40kph, then can select the vehicle speed dependency threshold value shown in line 525.
Fig. 6 is the method flow diagram of the exemplary method 600 can implemented by detection system 110, if the method relates to pedestrian for detecting collision and this collision, takes suitable counter-measure.When main vehicle 100 is started, method 600 can be activated and can continue executing with until main vehicle 100 stops working.
At frame 605 place, detection system 110 can set that threshold wake-up value.Threshold wake-up value can be passed through to process device 130 and set or be set in the calibration process of monitoring system 110, it is possible to be set to a value to be avoided by noise inadvertent free pedestrian protection system 105 or other counter-measures of first sensor 120 or the output of the second sensor 125.
At frame 610 place, detection system 110 can set that system exits threshold value.System exits threshold value and can be set by processing device 130 or set in the calibration process of detection system 110.System exits the signal that threshold value can export based on first sensor 120 and the second sensor 125, this signal of first sensor 120 and the output of the second sensor 125 follow closely with the potential collision of pedestrian and be acquired or monitor.
At frame 615 place, detection system 110 can set that non-pedestrian associated crash threshold value (NPRIT).Non-pedestrian associated crash threshold value can based on the expected value of collision alarm in collision process, and this collision is not related to pedestrian or relatively small unknown object.For example, non-pedestrian associated crash threshold value can based on being used for relating to the intended collision alarm value of the collision of the object of another vehicle or bigger or heavier.Process device 130 and can set that non-pedestrian associated crash threshold value.Selecting as one, non-pedestrian associated crash threshold value can set in a calibration process.The signal exported by first sensor 120 and the second sensor 125 that the non-pedestrian associated crash threshold value of system can be acquired based on following being likely to collision of the object relevant to non-pedestrian closely or monitor.
At frame 620 place, detection system 110 can arrange time of staying window.Time of staying window can be configured so that the signal that preset value is exported by first sensor 120 and the second sensor 125 with monitoring control can stay below the time exiting threshold value.
At frame 625 place, processing device 130 can Receiving collision signal.As it has been described above, collision alarm can represent the collision of main vehicle 100 and unknown object.In some cases, when such as two sensors are installed on bumper 115, process device 130 and can receive the first collision alarm exported by first sensor 120 and the second collision alarm exported by the second sensor 125.
At decision block 630 place, process device 130 and may determine that whether the collision alarm received at frame 625 place exceedes system wake-up threshold value.Size can be rejected as noise lower than the collision alarm of system wake-up threshold value.If the size of collision alarm exceedes system wake-up threshold value, then method 600 can continue at frame 635 place.Otherwise, method 600 may proceed to frame 625.
At frame 635 place, detection system 110 can start to process collision alarm.For example, process device 130 and can be calculated acceleration envelope by the first and second collision alarms received from the first and second sensors 120,125 respectively.This acceleration envelope can be calculated according to equation as escribed above (1).
At frame 640 place, detection system 110 can continue with the first and second collision alarms.It is to say, process device 130 can calculate velocity envolop according to the statement above with respect to equation (2) and (3).
At frame 645 place, detection system 110 can obtain vehicle speed information from vehicle CAN (controller local area network).Can use vehicle speed information that pedestrian's associated crash threshold value (PRIT) is set in real time as it is shown in figure 5, process device 130.
At frame 650 place, detection system 110 can arrange pedestrian's associated crash threshold value in real time.As it has been described above, pedestrian's associated crash threshold value can be the function of the velocity envolop shown in equation (4) and vehicle speed.Therefore, process device 130 to be based at least partially on velocity envolop and determine pedestrian's associated crash threshold value.And, threshold value can based on the speed of main vehicle 100.Process device 130 and can receive the signal of the speed representing main vehicle 100.
At decision block 655 place, decision system 110 may determine that whether collision relates to the object much larger than pedestrian.In other words, detection system 110 may determine that whether pedestrian is likely to be involved in collision.For example, process device 130 can the collision alarm that receive at frame 625 and non-pedestrian associated crash threshold value be compared.If collision alarm exceedes non-pedestrian associated crash threshold value, then method 600 can continue at frame 660 place.If collision alarm is not above non-pedestrian associated crash threshold value, then meaning that collision may relate to pedestrian, method 600 may proceed to frame 665.
At frame 660 place, detection system 110 can export signal to start non-pedestrian relevant front part collision protection system.Signal can be exported by processing device 130.Method 600 can terminate after frame 660.
At decision block 665 place, detection system 110 may determine that whether acceleration envelope exceedes the real time threshold PRIT arranged at frame 650 place.Acceleration envelope can be compared with threshold value PRIT it is to say, process device 130.If acceleration envelope exceedes threshold value PRIT, then method 600 can continue at frame 670 place.If acceleration envelope is not less than threshold value, then method 600 can proceed to frame 675.
At frame 670 place, detection system 110 can launch pedestrian protecting counter-measure.A kind of mode of expansion pedestrian protecting counter-measure can include processing device 130 and export control signal to pedestrian protection system 105.Upon receipt of control signal, pedestrian protection system 105 can start one or more pedestrian protecting counter-measure.Method 500 can after control signal is output and/or pedestrian protecting counter-measure launch after terminate.
At decision block 675 place, whether detection system 110 can terminate to determine to collide by Booting sequence.In a feasible method, processing device 130 can exit threshold value with system compare the output of the first and second sensors 120,125 or the output of operated sensor.Size is exited to the collision alarm of threshold value lower than system, method 600 may proceed to frame 680.Exceeding system for size and exit the collision alarm of threshold value, method 600 may proceed to frame 635.
At frame 680 place, detection system 110 can be followed the trail of the output of first sensor 120 and the second sensor 125 and is in system in how long and exit under threshold value.Process device 130 and can start enumerator to monitor above-mentioned sensor signal output lower than the time exiting threshold value set in frame 610.
At frame 685 place, detection system 110 may determine that determine in frame 680 since rest on from the signal of the first and second sensors 120 and 125 exit under threshold value since elapsed time amount whether exceeded frame 620 place arrange time of staying window.If elapsed time has exceeded time of staying window, then method 600 may proceed to frame 690.Otherwise, method 600 may proceed to frame 635.
At frame 690 place, process device 130 and elapsed time enumerator can be re-set as zero, and method 600 may proceed to frame 625.
Method 600 can continue executing with until main vehicle 100 is flame-out or until frame 660 or 670 is performed.
Generally, the computing system of description and/or device can use any number of computer operating system, include but not limited to version and/or the deformation of following system: FordOperating system, MicrosoftOperating system, Unix operating system (such as, are sold by the Oracle of California ShoresOperating system), the blackberry OS that sells of the AIXUNIX operating system sold by the International Business Machine Corporation (IBM) in Armonk, New York city, (SuSE) Linux OS, storehouse, California MacOSX and the iOS operating system sold than the Apple of Dinon, blackberry company by Canada Waterloo and by the Android operation system of Google and the exploitation of open mobile phone alliance.The example of calculation element including but not limited to, vehicle carried type vehicle computer, computer workstation, server, desktop computer, notebook computer, kneetop computer or handheld computer or some other computing system and/or device.
Calculation element generally comprises the executable instruction of computer, and wherein this instruction can be performed by one or more above listed calculation elements.The executable instruction of computer can by the computer program compiling using multiple programming language and/or technology to set up or explanation, and these programming languages and/or technology include, but not limited to alone or in combination JavaTM, C, C++, VisualBasic, JavaScript, Perl etc..Generally, processor (such as, microprocessor) receives such as from the instruction of memorizer, computer-readable medium etc., and performs these instructions, therefore completes one or more process, and these processes include one or more process described here.Multiple computer-readable medium can be used to store and transmit such instruction and other data.
Computer-readable medium (be also referred to as processor readable medium) and include any participation provide can by computer (as, by the processor of computer) data that read (as, instruction) non-transitory (e.g., tangible) medium.Such medium can take many forms, and includes, but are not limited to non-volatile media and Volatile media.Non-volatile media can include, for instance CD or disk and other permanent memories.Volatile media can include, for instance dynamic random access memory (DRAM), this memorizer typically constitutes main storage.Such instruction can by one or more some transmission medium, and these transmission mediums include coaxial cable, copper cash and optical fiber, it electric wire including comprising the system bus of the processor being connected to computer.The common form of computer-readable medium includes, such as floppy disk, flexible disk, hard disk, tape, other any magnetizing mediums, CD-ROM (compact disc read-only memory), DVD (Digital video disc), other any optical mediums, card punch, paper tape, the physical medium of other any porose styles, RAM (random access memory), PROM (programmable read only memory), EPROM (EPROM), FLASH-EEPROM (flash memory EEPROM), other any memory chip or memory cartridges, or any medium that other computers can therefrom read.
Data base described here, data storage bank or other data storages can include the various types of mechanisms for storing, access and retrieve various types of data, and these mechanisms include the file set in hierarchical database, file system, the application data base of professional format, relational database management system (RDBMS) etc..Each such data storage generally include use such as one of them computer operating system above-mentioned calculation element in, and by network in many ways in one or more be accessed.File system can be addressable from computer operating system, and can include the file stored in various formats.Except being used for producing, store, edit and performing the language of the program of storage, RDBMS generally uses SQL (SQL), all PL/SQL as mentioned above (proceduring/SQL) language.
In some instances, system element can as computer-readable instruction (such as, software) at one or more computing equipments (such as, server, personal computer etc.) upper execution, and it is stored on computer-readable medium associated with it (such as, disk, memorizer etc.).Computer program can comprise storage on a computer-readable medium for performing such instruction of function described herein.
About process described here, system, method, exploratory method etc., should be understood that, the step etc. of process etc. although it is so has described as and occurs according to specific ordered sequence, but such program can by be carried out with the step described by the different order execution of order described in the invention.It is to be further understood that some step can be performed concurrently, other steps can be increased, or some step described here can be omitted.In other words, at this, description of process is provided to describe some embodiment, and should in no way be construed so as the restriction to claims.
It is therefore to be understood that description above is to explain rather than limiting.The many embodiments beyond example provided and application will become clear from by reading description above.Protection domain should do not determined according to above-mentioned description, but should determine according to whole equivalent scope that appending claims is enjoyed together with these claims.It is expected to and it is contemplated that the improvement in future can occur technology discussed herein, disclosed system and method will be integrated with in these embodiments in the future.Generally speaking, it is understood that the application be able to amendment and change.
Unless the present invention separately has clearly contrary instruction, all of term in detail in the claims is used to be intended to be endowed the usual implication that they those skilled in the art understand.Especially, unless claim recitations goes out clearly contrary restriction, the single article of use such as " one ", " being somebody's turn to do ", " described " etc. are construed as the one or more shown element of narration.
There is provided summary so that reader's fast explicit technology is disclosed essential.Should be appreciated that makes a summary explains or limits scope or the implication of claims by being not intended to.Additionally, in aforesaid detailed description of the invention, it can be seen that various features are combined in various embodiments, its object is to simplify the disclosure.The method of the present invention should not be construed as the such intention of reflection, and namely required embodiment needs ratio to be known the more feature enumerated in each claim.But as the following claims reflect, subject matter of an invention is in that all features less than single disclosed embodiment.Therefore, when each claim itself is as the theme being each claimed, following claims are incorporated in detailed description of the invention at this.
Claims (20)
1. a Vehicular system, comprises:
It is configured to the sensor of output collision alarm；And
Process device; described process device is programmed to: calculated acceleration envelope by described collision alarm; velocity envolop is calculated by described acceleration envelope; it is based at least partially on vehicle speed to determine threshold value; by described acceleration envelope compared with described threshold value, and if described acceleration envelope exceed described threshold value, export control signal to launch pedestrian protecting counter-measure.
2. Vehicular system as claimed in claim 1, wherein said sensor is configured to the collision detecting main vehicle with object.
3. Vehicular system as claimed in claim 1, wherein said threshold value is based at least partially on the collision characteristic of pedestrian's associated crash.
4. Vehicular system as claimed in claim 1, wherein said threshold value is based at least partially on the collision characteristic of non-pedestrian associated crash.
5. Vehicular system as claimed in claim 1, wherein said process device is programmed to, if described acceleration envelope is lower than described threshold value, exports control signal to launch non-pedestrian collision counter-measure.
6. Vehicular system as claimed in claim 1, wherein said sensor is installed on the bumper of main vehicle.
7. Vehicular system as claimed in claim 6, wherein said bumper is made up of steel.
8. Vehicular system as claimed in claim 6, wherein said bumper is made up of metal material.
9. a vehicle, comprises:
Metal bumper；
It is arranged on described metal bumper and is configured to the first sensor of output the first collision alarm；
It is arranged on described metal bumper and is configured to the second sensor of output the second collision alarm；
Pedestrian protection system；And
It is configured to receive the process device of described first collision alarm and described second collision alarm; wherein said process device is programmed to: calculated acceleration envelope by described first and second collision alarms; velocity envolop is calculated by described acceleration envelope; it is based at least partially on vehicle speed to determine threshold value; described acceleration envelope and described threshold value are compared, and if described acceleration envelope exceed described threshold value, export control signal to launch described pedestrian protection system.
10. vehicle as claimed in claim 9, wherein said first sensor and described second sensor are configured to collision and the response of detection and object and the detection of described collision are exported described first collision alarm and described second collision alarm respectively.
11. vehicle as claimed in claim 9, wherein said threshold value is based at least partially on the collision characteristic of pedestrian's associated crash.
12. vehicle as claimed in claim 9, wherein said threshold value is based at least partially on the collision characteristic of non-pedestrian associated crash.
13. vehicle as claimed in claim 9, wherein said process device is programmed to, if described acceleration envelope is lower than described threshold value, exports control signal to launch non-pedestrian collision counter-measure.
14. vehicle as claimed in claim 9, wherein said metal bumper is formed from steel.
15. a method, comprise:
Processing, device receives the collision alarm representing main vehicle with the collision of object；
Acceleration envelope is calculated by described collision alarm；
Velocity envolop is calculated by described acceleration envelope；
It is based at least partially on vehicle speed to determine threshold value；
By described process device, described acceleration envelope and described threshold value are compared；And
If described acceleration envelope exceedes described threshold value, then output control signal is to launch pedestrian protecting counter-measure.
16. method as claimed in claim 15, comprise further:
Detect described collision；
Generate described collision alarm；And
Described collision alarm is sent to described process device.
17. method as claimed in claim 15, wherein said threshold value is based at least partially on the collision characteristic of pedestrian's associated crash.
18. method as claimed in claim 15, wherein said threshold value is based at least partially on the collision characteristic of non-pedestrian associated crash.
19. method as claimed in claim 15, if comprising described acceleration envelope further lower than described threshold value, export control signal to launch non-pedestrian collision counter-measure.
20. method as claimed in claim 15, wherein said main vehicle includes metal bumper, and wherein said collision alarm represents the collision of described object and described metal bumper.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/600,412 | 2015-01-20 | ||
| US14/600,412 US20160207495A1 (en) | 2015-01-20 | 2015-01-20 | Velocity based pedestrian sensing |
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| Publication Number | Publication Date |
|---|---|
| CN105799629A true CN105799629A (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610024212.2A Withdrawn CN105799629A (en) | 2015-01-20 | 2016-01-14 | Velocity-based pedestrian sensing |
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| Country | Link |
|---|---|
| US (1) | US20160207495A1 (en) |
| CN (1) | CN105799629A (en) |
| DE (1) | DE102016100387A1 (en) |
| GB (1) | GB2535859A (en) |
| MX (1) | MX2016000814A (en) |
| RU (1) | RU2015153720A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111148660A (en) * | 2017-09-26 | 2020-05-12 | 罗伯特·博世有限公司 | Method for generating a trigger signal for triggering at least one safety function of a motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6485417B2 (en) * | 2016-08-05 | 2019-03-20 | トヨタ自動車株式会社 | Vehicle collision detection device and vehicle collision detection method |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2535859A (en) | 2016-08-31 |
| MX2016000814A (en) | 2016-07-19 |
| DE102016100387A1 (en) | 2016-07-21 |
| RU2015153720A (en) | 2017-06-20 |
| US20160207495A1 (en) | 2016-07-21 |
| GB201601031D0 (en) | 2016-03-02 |
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